CASIA OpenIR  > 数字内容技术与服务研究中心  > 智能技术与系统工程
Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method
Zhang GG(张桂刚)
Source PublicationApplied Sciences
2019
Volume9Issue:9Pages:1-19
Abstract

This paper presents a super-twisting-based sliding mode control method for the formation problem of multi-robot systems. The multiple robots contain plenty of uncertainties and disturbances. Such a control method has two adaptive gains that can contribute to the robustness and improve the response of the formation maneuvers despite these uncertainties and disturbances. Based on the leader-follower frame, this control method was investigated. The closed-loop formation stability is
theoretically guaranteed in the sense of Lyapunov. From the aspect of practice, the control method was carried out by a multi-robot system to achieve some desired formation patterns. Some numerical results were demonstrated to verify the feasibility of the control method. Some comparisons were also illustrated to support the superiority and effectiveness of the presented sliding mode control method.

Keywordmulti-robot systems, formation maneuvers, sliding mode control, adaptive
Indexed BySCI
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/41477
Collection数字内容技术与服务研究中心_智能技术与系统工程
Recommended Citation
GB/T 7714
Zhang GG. Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method[J]. Applied Sciences,2019,9(9):1-19.
APA Zhang GG.(2019).Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method.Applied Sciences,9(9),1-19.
MLA Zhang GG."Coordinated Formation Design of Multi-Robot Systems via an Adaptive-Gain Super-Twisting Sliding Mode Method".Applied Sciences 9.9(2019):1-19.
Files in This Item: Download All
File Name/Size DocType Version Access License
SCI期刊-第3篇.pdf(1483KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang GG(张桂刚)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang GG(张桂刚)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang GG(张桂刚)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: SCI期刊-第3篇.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.